抄録
In recently, Maritime traffic data are observed by many institutions. Effectually utilization of those data is inspected.
Others, tracking control for straight route or curve route is effective by precedence study.
In this study, Target trajectories were made from from 3 observations (Coastal Station (AIS Information), GPS, Control System in Shioji Maru). Saving data of Control System include position, heading and yaw rate and that interval is 1 second. Trajectory data by Coastal Station include position, heading and yaw rate but that interval is inconstant. Trajectory data by GPS have only position, that interval is 2 second.
An order rudder angle is calculated by present ship's situation and trajectory's data.
This control algorithm is inspected by simulation and actual ship experiments.
